
#include <motor_sockets/can_socket.hpp>

uint8_t dm_enable[8] = {0xff, 0xff ,0xff, 0xff ,0xff, 0xff , 0xff, 0xfc};
uint8_t dm_disable[8] = {0xff, 0xff ,0xff, 0xff ,0xff, 0xff , 0xff, 0xfd};


int main() {
    MotorDrivers::CANSocket DM4310_s1("can0", 0x41, 0x151, 8);
    MotorDrivers::CANSocket DM4310_s2("can0", 0x42, 0x152, 8);
    DM4310_s1.socket_Init();
    DM4310_s2.socket_Init();


    DM4310_s1.socket_Send(dm_enable);
    DM4310_s2.socket_Send(dm_enable);

    std::this_thread::sleep_for(std::chrono::seconds(2));
    DM4310_s1.socket_Send(dm_disable);
    DM4310_s2.socket_Send(dm_disable);
    return 0;

}
